OpenRaiser/Intern-Atlas huggingface dataset:
MMRHP: A Miniature Mixed-Reality HIL Platform for Auditable Closed-Loop Evaluation
Venue: arXiv cs.RO 2025
Year: 2025

Validation of autonomous driving systems requires a trade-off between test fidelity, cost, and scalability. While miniaturized hardware-in-the-loop (HIL) platforms have emerged as a promising solution, a systematic framework supporting rigorous quantitative analysis is generally lacking, limiting their value as scientific evaluation tools. To address this challenge, we propose MMRHP, a miniature mixed-reality HIL platform that elevates miniaturized testing from functional demonstration to rigorous, reproducible quantitative analysis. The core contributions are threefold. First, we propose a systematic three-phase testing process oriented toward the Safety of the Intended Functionality(SOTIF)standard, providing actionable guidance for identifying the performance limits and triggering conditions of otherwise correctly functioning systems. Second, we design and implement a HIL platform centered around a unified spatiotemporal measurement core to support this process, ensuring consistent and traceable quantification of physical motion and system timing. Finally, we demonstrate the effectiveness of this solution through comprehensive experiments. The platform itself was first validated, achieving a spatial accuracy of 10.27 mm RMSE and a stable closed-loop latency baseline of approximately 45 ms. Subsequently, an in-depth Autoware case study leveraged this validated platform to quantify its performance baseline and identify a critical performance cliff at an injected latency of 40 ms. This work shows that a structured process, combined with a platform offering a unified spatio-temporal benchmark, enables reproducible, interpretable, and quantitative closed-loop evaluation of autonomous driving systems.
Cross-Modal Scene Semantic Alignment for Image Complexity Assessment
Venue: arXiv cs.CV 2025
Year: 2025

Image complexity assessment (ICA) is a challenging task in perceptual evaluation due to the subjective nature of human perception and the inherent semantic diversity in real-world images. Existing ICA methods predominantly rely on hand-crafted or shallow convolutional neural network-based features of a single visual modality, which are insufficient to fully capture the perceived representations closely related to image complexity. Recently, cross-modal scene semantic information has been shown to play a crucial role in various computer vision tasks, particularly those involving perceptual understanding. However, the exploration of cross-modal scene semantic information in the context of ICA remains unaddressed. Therefore, in this paper, we propose a novel ICA method called Cross-Modal Scene Semantic Alignment (CM-SSA), which leverages scene semantic alignment from a cross-modal perspective to enhance ICA performance, enabling complexity predictions to be more consistent with subjective human perception. Specifically, the proposed CM-SSA consists of a complexity regression branch and a scene semantic alignment branch. The complexity regression branch estimates image complexity levels under the guidance of the scene semantic alignment branch, while the scene semantic alignment branch is used to align images with corresponding text prompts that convey rich scene semantic information by pair-wise learning. Extensive experiments on several ICA datasets demonstrate that the proposed CM-SSA significantly outperforms state-of-the-art approaches. Codes are available at https://github.com/XQ2K/First-Cross-Model-ICA.
MPC-based motion planning for non-holonomic systems in non-convex domains
Venue: arXiv cs.RO 2025
Year: 2025

Motivated by the application of using model predictive control (MPC) for motion planning of autonomous mobile robots, a form of output tracking MPC for non-holonomic systems and with non-convex constraints is studied. Although the advantages of using MPC for motion planning have been demonstrated in several papers, in most of the available fundamental literature on output tracking MPC it is assumed, often implicitly, that the model is holonomic and generally the state or output constraints must be convex. Thus, in application-oriented publications, empirical results dominate and the topic of proving completeness, in particular under which assumptions the target is always reached, has received comparatively little attention. To address this gap, we present a novel MPC formulation that guarantees convergence to the desired target under realistic assumptions, which can be verified in relevant real-world scenarios.
Large Language Models in Thematic Analysis: Prompt Engineering, Evaluation, and Guidelines for Qualitative Software Engineering Research
Venue: arXiv cs.SE 2025
Year: 2025

As artificial intelligence advances, large language models (LLMs) are entering qualitative research workflows, yet no reproducible methods exist for integrating them into established approaches like thematic analysis (TA), one of the most common qualitative methods in software engineering research. Moreover, existing studies lack systematic evaluation of LLM-generated qualitative outputs against established quality criteria. We designed and iteratively refined prompts for Phases 2-5 of Braun and Clarke's reflexive TA, then tested outputs from multiple LLMs against codes and themes produced by experienced researchers. Using 15 interviews on software engineers' well-being, we conducted blind evaluations with four expert evaluators who applied rubrics derived directly from Braun and Clarke's quality criteria. Evaluators preferred LLM-generated codes 61% of the time, finding them analytically useful for answering the research question. However, evaluators also identified limitations: LLMs fragmented data unnecessarily, missed latent interpretations, and sometimes produced themes with unclear boundaries. Our contributions are threefold. First, a reproducible approach integrating refined, documented prompts with an evaluation framework to operationalize Braun and Clarke's reflexive TA. Second, an empirical comparison of LLM- and human-generated codes and themes in software engineering data. Third, guidelines for integrating LLMs into qualitative analysis while preserving methodological rigour, clarifying when and how LLMs can assist effectively and when human interpretation remains essential.
CodeRL+: Improving Code Generation via Reinforcement with Execution Semantics Alignment
Venue: arXiv cs.SE 2025
Year: 2025

While Large Language Models (LLMs) excel at code generation by learning from vast code corpora, a fundamental semantic gap remains between their training on textual patterns and the goal of functional correctness, which is governed by formal execution semantics. Reinforcement Learning with Verifiable Rewards (RLVR) approaches attempt to bridge this gap using outcome rewards from executing test cases. However, solely relying on binary pass/fail signals is inefficient for establishing a well-aligned connection between the textual representation of code and its execution semantics, especially for subtle logical errors within the code. In this paper, we propose CodeRL+, a novel approach that integrates execution semantics alignment into the RLVR training pipeline for code generation. CodeRL+ enables the model to infer variable-level execution trajectory, providing a direct learning signal of execution semantics. CodeRL+ can construct execution semantics alignment directly using existing on-policy rollouts and integrates seamlessly with various RL algorithms. Extensive experiments demonstrate that CodeRL+ outperforms post-training baselines (including RLVR and Distillation), achieving a 4.6% average relative improvement in pass@1. CodeRL+ generalizes effectively to other coding tasks, yielding 15.5% and 4.4% higher accuracy on code-reasoning and test-output-generation benchmarks, respectively. CodeRL+ shows strong applicability across diverse RL algorithms and LLMs. Furthermore, probe analyses provide compelling evidence that CodeRL+ strengthens the alignment between code's textual representations and its underlying execution semantics.
One Size Fits All? A Modular Adaptive Sanitization Kit (MASK) for Customizable Privacy-Preserving Phone Scam Detection
Venue: arXiv cs.CR 2025
Year: 2025

Phone scams remain a pervasive threat to both personal safety and financial security worldwide. Recent advances in large language models (LLMs) have demonstrated strong potential in detecting fraudulent behavior by analyzing transcribed phone conversations. However, these capabilities introduce notable privacy risks, as such conversations frequently contain sensitive personal information that may be exposed to third-party service providers during processing. In this work, we explore how to harness LLMs for phone scam detection while preserving user privacy. We propose MASK (Modular Adaptive Sanitization Kit), a trainable and extensible framework that enables dynamic privacy adjustment based on individual preferences. MASK provides a pluggable architecture that accommodates diverse sanitization methods - from traditional keyword-based techniques for high-privacy users to sophisticated neural approaches for those prioritizing accuracy. We also discuss potential modeling approaches and loss function designs for future development, enabling the creation of truly personalized, privacy-aware LLM-based detection systems that balance user trust and detection effectiveness, even beyond phone scam context.
Identity-Aware Large Language Models require Cultural Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

Large language models have become the latest trend in natural language processing, heavily featuring in the digital tools we use every day. However, their replies often reflect a narrow cultural viewpoint that overlooks the diversity of global users. This missing capability could be referred to as cultural reasoning, which we define here as the capacity of a model to recognise culture-specific knowledge values and social norms, and to adjust its output so that it aligns with the expectations of individual users. Because culture shapes interpretation, emotional resonance, and acceptable behaviour, cultural reasoning is essential for identity-aware AI. When this capacity is limited or absent, models can sustain stereotypes, ignore minority perspectives, erode trust, and perpetuate hate. Recent empirical studies strongly suggest that current models default to Western norms when judging moral dilemmas, interpreting idioms, or offering advice, and that fine-tuning on survey data only partly reduces this tendency. The present evaluation methods mainly report static accuracy scores and thus fail to capture adaptive reasoning in context. Although broader datasets can help, they cannot alone ensure genuine cultural competence. Therefore, we argue that cultural reasoning must be treated as a foundational capability alongside factual accuracy and linguistic coherence. By clarifying the concept and outlining initial directions for its assessment, a foundation is laid for future systems to be able to respond with greater sensitivity to the complex fabric of human culture.
Partial VOROS: A Cost-aware Performance Metric for Binary Classifiers with Precision and Capacity Constraints
Venue: arXiv cs.LG 2025
Year: 2025

The ROC curve is widely used to assess binary classification performance. Yet for some applications such as alert systems for hospitalized patient monitoring, conventional ROC analysis cannot capture crucial factors that impact deployment, such as enforcing a minimum precision constraint to avoid false alarm fatigue or imposing an upper bound on the number of predicted positives to represent the capacity of hospital staff. The usual area under the curve metric also does not reflect asymmetric costs for false positives and false negatives. In this paper we address all three of these issues. First, we show how the subset of classifiers that meet given precision and capacity constraints can be represented as a feasible region in ROC space. We establish the geometry of this feasible region. We then define the partial area of lesser classifiers, a performance metric that is monotonic with cost and only accounts for the feasible portion of ROC space. Averaging this area over a desired range of cost parameters results in the partial volume over the ROC surface, or partial VOROS. In experiments predicting mortality risk using vital sign history on the MIMIC-IV dataset, we show this cost-aware metric is better than alternatives for ranking classifiers in hospital alert applications.
Extracting alignment data in open models
Venue: arXiv cs.AI 2025
Year: 2025

In this work, we show that it is possible to extract significant amounts of alignment training data from a post-trained model -- useful to steer the model to improve certain capabilities such as long-context reasoning, safety, instruction following, and maths. While the majority of related work on memorisation has focused on measuring success of training data extraction through string matching, we argue that embedding models are better suited for our specific goals. Distances measured through a high quality embedding model can identify semantic similarities between strings that a different metric such as edit distance will struggle to capture. In fact, in our investigation, approximate string matching would have severely undercounted (by a conservative estimate of $10\times$) the amount of data that can be extracted due to trivial artifacts that deflate the metric. Interestingly, we find that models readily regurgitate training data that was used in post-training phases such as SFT or RL. We show that this data can be then used to train a base model, recovering a meaningful amount of the original performance. We believe our work exposes a possibly overlooked risk towards extracting alignment data. Finally, our work opens up an interesting discussion on the downstream effects of distillation practices: since models seem to be regurgitating aspects of their training set, distillation can therefore be thought of as indirectly training on the model's original dataset.
RAISE: A Unified Framework for Responsible AI Scoring and Evaluation
Venue: arXiv cs.LG 2025
Year: 2025

As AI systems enter high-stakes domains, evaluation must extend beyond predictive accuracy to include explainability, fairness, robustness, and sustainability. We introduce RAISE (Responsible AI Scoring and Evaluation), a unified framework that quantifies model performance across these four dimensions and aggregates them into a single, holistic Responsibility Score. We evaluated three deep learning models: a Multilayer Perceptron (MLP), a Tabular ResNet, and a Feature Tokenizer Transformer, on structured datasets from finance, healthcare, and socioeconomics. Our findings reveal critical trade-offs: the MLP demonstrated strong sustainability and robustness, the Transformer excelled in explainability and fairness at a very high environmental cost, and the Tabular ResNet offered a balanced profile. These results underscore that no single model dominates across all responsibility criteria, highlighting the necessity of multi-dimensional evaluation for responsible model selection. Our implementation is available at: https://github.com/raise-framework/raise.
Large language models for folktale type automation based on motifs: Cinderella case study
Venue: arXiv cs.CL 2025
Year: 2025

Artificial intelligence approaches are being adapted to many research areas, including digital humanities. We built a methodology for large-scale analyses in folkloristics. Using machine learning and natural language processing, we automatically detected motifs in a large collection of Cinderella variants and analysed their similarities and differences with clustering and dimensionality reduction. The results show that large language models detect complex interactions in tales, enabling computational analysis of extensive text collections and facilitating cross-lingual comparisons.
Privacy-Preserving Healthcare Data in IoT: A Synergistic Approach with Deep Learning and Blockchain
Venue: arXiv cs.CR 2025
Year: 2025

The integration of Internet of Things (IoT) devices in healthcare has revolutionized patient care by enabling real-time monitoring, personalized treatments, and efficient data management. However, this technological advancement introduces significant security risks, particularly concerning the confidentiality, integrity, and availability of sensitive medical data. Traditional security measures are often insufficient to address the unique challenges posed by IoT environments, such as heterogeneity, resource constraints, and the need for real-time processing. To tackle these challenges, we propose a comprehensive three-phase security framework designed to enhance the security and reliability of IoT-enabled healthcare systems. In the first phase, the framework assesses the reliability of IoT devices using a reputation-based trust estimation mechanism, which combines device behavior analytics with off-chain data storage to ensure scalability. The second phase integrates blockchain technology with a lightweight proof-of-work mechanism, ensuring data immutability, secure communication, and resistance to unauthorized access. The third phase employs a lightweight Long Short-Term Memory (LSTM) model for anomaly detection and classification, enabling real-time identification of cyber threats. Simulation results demonstrate that the proposed framework outperforms existing methods, achieving a 2% increase in precision, accuracy, and recall, a 5% higher attack detection rate, and a 3% reduction in false alarm rate. These improvements highlight the framework's ability to address critical security concerns while maintaining scalability and real-time performance.
The Cost-Benefit of Interdisciplinarity in AI for Mental Health
Venue: arXiv cs.CY 2025
Year: 2025

Artificial intelligence has been introduced as a way to improve access to mental health support. However, most AI mental health chatbots rely on a limited range of disciplinary input, and fail to integrate expertise across the chatbot's lifecycle. This paper examines the cost-benefit trade-off of interdisciplinary collaboration in AI mental health chatbots. We argue that involving experts from technology, healthcare, ethics, and law across key lifecycle phases is essential to ensure value-alignment and compliance with the high-risk requirements of the AI Act. We also highlight practical recommendations and existing frameworks to help balance the challenges and benefits of interdisciplinarity in mental health chatbots.
CUARewardBench: A Benchmark for Evaluating Reward Models on Computer-using Agent
Venue: arXiv cs.SE 2025
Year: 2025

Computer-using agents (CUAs) enable task completion through natural interaction with operating systems and software interfaces. While script-based verifiers are widely adopted for evaluation, they suffer from limited scalability and inability to provide step-wise assessment. Reward models offer promising alternatives, but their effectiveness on CUA evaluation remains largely underexplored. To address this gap, we present CUARewardBench, comprising four key contributions: (1) First-ever Comprehensive CUA Reward Benchmark: We introduce the first benchmark for evaluating both outcome reward models (ORM) and process reward models (PRM) on CUA tasks, enabling systematic assessment across trajectory-level and step-level evaluation. (2) Diverse, Practical and Reliable Dataset: CUARewardBench encompasses trajectories from 10 software categories and 7 agent architectures with varying performance levels (25.9%-50.8% success rates). All trajectories are expertly annotated through carefully designed protocols, with rigorous quality control to ensure reliability and practical applicability. (3) Comprehensive Analysis and Insights: Through extensive experiments across 7 vision-language models and 3 prompt templates, we reveal critical limitations of current CUA RMs, including insufficient visual reasoning capabilities, knowledge deficiencies, and the superiority of general VLMs over specialized CUA models for reward evaluation. (4) Unanimous Prompt Ensemble (UPE): Based on the insights from our comprehensive analysis, we propose UPE, a novel ensemble method that significantly enhances reward model reliability through strict unanimous voting and strategic prompt-template configurations. UPE achieves 89.8% precision and 93.3% NPV for ORM, and 81.7% precision and 85.1% NPV for PRM, substantially outperforming single VLMs and traditional ensemble approaches.
Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
Venue: arXiv cs.RO 2025
Year: 2025

Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future planetary missions by traversing more difficult terrain than wheeled rovers, such as jumping over cracks on the ground or traversing rugged terrain with boulders. To develop and test algorithms for using quadruped robots, the AAPLE project was carried out at DFKI. As part of the project, we conducted a series of field experiments on the Volcano on the Aeolian island of Vulcano, an active stratovolcano near Sicily, Italy. The experiments focused on validating newly developed state-of-the-art adaptive optimal control algorithms for quadrupedal locomotion in a high-fidelity analog environment for Lunar and Martian surfaces. This paper presents the technical approach, test plan, software architecture, field deployment strategy, and evaluation results from the Vulcano campaign.
DRsam: Detection of Fault-Based Microarchitectural Side-Channel Attacks in RISC-V Using Statistical Preprocessing and Association Rule Mining
Venue: arXiv cs.CR 2025
Year: 2025

RISC-V processors are becoming ubiquitous in critical applications, but their susceptibility to microarchitectural side-channel attacks is a serious concern. Detection of microarchitectural attacks in RISC-V is an emerging research topic that is relatively underexplored, compared to x86 and ARM. The first line of work to detect flush+fault-based microarchitectural attacks in RISC-V leverages Machine Learning (ML) models, yet it leaves several practical aspects that need further investigation. To address overlooked issues, we leveraged gem5 and propose a new detection method combining statistical preprocessing and association rule mining having reconfiguration capabilities to generalize the detection method for any microarchitectural attack. The performance comparison with state-of-the-art reveals that the proposed detection method achieves up to 5.15% increase in accuracy, 7% rise in precision, and 3.91% improvement in recall under the cryptographic, computational, and memory-intensive workloads alongside its flexibility to detect new variant of flush+fault attack. Moreover, as the attack detection relies on association rules, their human-interpretable nature provides deep insight to understand microarchitectural behavior during the execution of attack and benign applications.